def evaluate(self, algo, test_rollouts_per_task=None):
"""Evaluate the Meta-RL algorithm on the test tasks.
Args:
algo (garage.np.algos.MetaRLAlgorithm): The algorithm to evaluate.
test_rollouts_per_task (int or None): Number of rollouts per task.
"""
if test_rollouts_per_task is None:
test_rollouts_per_task = self._n_test_rollouts
adapted_trajectories = []
logger.log('Sampling for adapation and meta-testing...')
if self._test_sampler is None:
self._test_sampler = self._sampler_class.from_worker_factory(
WorkerFactory(seed=get_seed(),
max_path_length=self._max_path_length,
n_workers=1,
worker_class=self._worker_class,
worker_args=self._worker_args),
agents=algo.get_exploration_policy(),
envs=self._test_task_sampler.sample(1))
for env_up in self._test_task_sampler.sample(self._n_test_tasks):
policy = algo.get_exploration_policy()
traj = self._trajectory_batch_class.concatenate(*[
self._test_sampler.obtain_samples(self._eval_itr, 1, policy,
env_up)
for _ in range(self._n_exploration_traj)
])
adapted_policy = algo.adapt_policy(policy, traj)
adapted_traj = self._test_sampler.obtain_samples(
self._eval_itr, test_rollouts_per_task * self._max_path_length,
adapted_policy)
adapted_trajectories.append(adapted_traj)
logger.log('Finished meta-testing...')
if self._test_task_names is not None:
name_map = dict(enumerate(self._test_task_names))
else:
name_map = None
with tabular.prefix(self._prefix + '/' if self._prefix else ''):
log_multitask_performance(
self._eval_itr,
self._trajectory_batch_class.concatenate(
*adapted_trajectories),
getattr(algo, 'discount', 1.0),
trajectory_class=self._trajectory_batch_class,
name_map=name_map)
self._eval_itr += 1
if self._trajectory_batch_class == TrajectoryBatch:
rewards = self._trajectory_batch_class.concatenate(
*adapted_trajectories).rewards
else:
rewards = self._trajectory_batch_class.concatenate(
*adapted_trajectories).env_rewards
return sum(rewards) / len(rewards)
def test_log_multitask_performance_task_id():
lengths = np.array([10, 5, 1, 1])
batch = TrajectoryBatch(
EnvSpec(akro.Box(np.array([0., 0., 0.]), np.array([1., 1., 1.])),
akro.Box(np.array([-1., -1.]), np.array([0., 0.]))),
observations=np.ones((sum(lengths), 3), dtype=np.float32),
last_observations=np.ones((len(lengths), 3), dtype=np.float32),
actions=np.zeros((sum(lengths), 2), dtype=np.float32),
rewards=np.array([
0.34026529, 0.58263177, 0.84307509, 0.97651095, 0.81723901,
0.22631398, 0.03421301, 0.97515046, 0.64311832, 0.65068933,
0.17657714, 0.04783857, 0.73904013, 0.41364329, 0.52235551,
0.24203526, 0.43328910
]),
terminals=np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1],
dtype=bool),
env_infos={
'success':
np.array([0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1, 0, 1],
dtype=bool),
'task_id':
np.array([1] * 10 + [3] * 5 + [1] + [4])
},
agent_infos={},
lengths=lengths)
log_file = tempfile.NamedTemporaryFile()
csv_output = dowel.CsvOutput(log_file.name)
logger.add_output(csv_output)
log_multitask_performance(7, batch, 0.8, {
1: 'env1',
3: 'env2',
4: 'env3',
5: 'env4'
})
logger.log(tabular)
logger.dump_output_type(dowel.CsvOutput)
with open(log_file.name, 'r') as file:
rows = list(csv.DictReader(file))
res = {k: float(r) for (k, r) in rows[0].items()}
assert res['env1/Iteration'] == 7
assert res['env2/Iteration'] == 7
assert res['env3/Iteration'] == 7
assert res['env4/Iteration'] == 7
assert res['env1/NumTrajs'] == 2
assert res['env2/NumTrajs'] == 1
assert res['env3/NumTrajs'] == 1
assert res['env4/NumTrajs'] == 0
assert math.isclose(res['env1/SuccessRate'], 0.5)
assert math.isclose(res['env2/SuccessRate'], 1.0)
assert math.isclose(res['env3/SuccessRate'], 1.0)
assert math.isnan(res['env4/SuccessRate'])
assert math.isnan(res['env4/AverageReturn'])
def evaluate(self, algo, test_episodes_per_task=None):
"""Evaluate the Meta-RL algorithm on the test tasks.
Args:
algo (MetaRLAlgorithm): The algorithm to evaluate.
test_episodes_per_task (int or None): Number of episodes per task.
"""
if test_episodes_per_task is None:
test_episodes_per_task = self._n_test_episodes
adapted_episodes = []
logger.log('Sampling for adapation and meta-testing...')
env_updates = self._test_task_sampler.sample(self._n_test_tasks)
if self._test_sampler is None:
env = env_updates[0]()
self._max_episode_length = env.spec.max_episode_length
self._test_sampler = LocalSampler.from_worker_factory(
WorkerFactory(seed=get_seed(),
max_episode_length=self._max_episode_length,
n_workers=1,
worker_class=self._worker_class,
worker_args=self._worker_args),
agents=algo.get_exploration_policy(),
envs=env)
for env_up in env_updates:
policy = algo.get_exploration_policy()
eps = EpisodeBatch.concatenate(*[
self._test_sampler.obtain_samples(self._eval_itr, 1, policy,
env_up)
for _ in range(self._n_exploration_eps)
])
adapted_policy = algo.adapt_policy(policy, eps)
adapted_eps = self._test_sampler.obtain_samples(
self._eval_itr,
test_episodes_per_task * self._max_episode_length,
adapted_policy)
adapted_episodes.append(adapted_eps)
logger.log('Finished meta-testing...')
if self._test_task_names is not None:
name_map = dict(enumerate(self._test_task_names))
else:
name_map = None
with tabular.prefix(self._prefix + '/' if self._prefix else ''):
log_multitask_performance(
self._eval_itr,
EpisodeBatch.concatenate(*adapted_episodes),
getattr(algo, 'discount', 1.0),
name_map=name_map)
self._eval_itr += 1
def evaluate(self, algo, test_episodes_per_task=None):
"""Evaluate the Meta-RL algorithm on the test tasks.
Args:
algo (MetaRLAlgorithm): The algorithm to evaluate.
test_episodes_per_task (int or None): Number of episodes per task.
"""
if test_episodes_per_task is None:
test_episodes_per_task = self._n_test_episodes
adapted_episodes = []
logger.log('Sampling for adapation and meta-testing...')
env_updates = self._test_task_sampler.sample(self._n_test_tasks)
for env_up in env_updates:
policy = algo.get_exploration_policy()
eps = EpisodeBatch.concatenate(*[
algo._sampler.obtain_samples(self._eval_itr, 1,
policy,
env_up)
for _ in range(self._n_exploration_eps)
])
adapted_policy = algo.get_adapted_test_policy(policy, eps)
adapted_eps = algo._sampler.obtain_samples(
self._eval_itr,
test_episodes_per_task * env_up().spec.max_episode_length,
adapted_policy)
adapted_episodes.append(adapted_eps)
if self._verbose:
for ep in adapted_episodes:
print(ep.env_infos['task'][0])
print(f'last observations: {ep.last_observations}')
print('------------------------------------')
logger.log('Finished meta-testing...')
if self._test_task_names is not None:
name_map = dict(enumerate(self._test_task_names))
else:
name_map = None
with tabular.prefix(self._prefix + '/' if self._prefix else ''):
log_multitask_performance(
self._eval_itr,
EpisodeBatch.concatenate(*adapted_episodes),
getattr(algo, 'discount', 1.0),
name_map=name_map)
self._eval_itr += 1
return adapted_episodes
def _evaluate_policy(self, epoch):
"""Evaluate the performance of the policy via deterministic sampling.
Statistics such as (average) discounted return and success rate are
recorded.
Args:
epoch (int): The current training epoch.
Returns:
float: The average return across self._num_evaluation_episodes
episodes
"""
eval_eps = []
for eval_env in self._eval_env:
eval_eps.append(
obtain_evaluation_episodes(
self.policy,
eval_env,
self._max_episode_length_eval,
num_eps=self._num_evaluation_episodes,
deterministic=self._use_deterministic_evaluation))
eval_eps = EpisodeBatch.concatenate(*eval_eps)
last_return = log_multitask_performance(epoch, eval_eps,
self._discount)
return last_return
def _evaluate_policy(self, epoch):
"""Evaluate the performance of the policy via deterministic rollouts.
Statistics such as (average) discounted return and success rate are
recorded.
Args:
epoch (int): The current training epoch.
Returns:
float: The average return across self._num_evaluation_trajectories
trajectories
"""
eval_trajs = []
for _ in range(self._num_tasks):
eval_trajs.append(
obtain_evaluation_samples(
self.policy,
self._eval_env,
num_trajs=self._num_evaluation_trajectories))
eval_trajs = TrajectoryBatch.concatenate(*eval_trajs)
last_return = log_multitask_performance(epoch, eval_trajs,
self._discount)
return last_return
def _process_samples(self, itr, paths):
# pylint: disable=too-many-statements
"""Return processed sample data based on the collected paths.
Args:
itr (int): Iteration number.
paths (OrderedDict[dict]): A list of collected paths for each
task. In RL^2, there are n environments/tasks and paths in
each of them will be concatenated at some point and fed to
the policy.
Returns:
EpisodeBatch: Processed batch of episodes for feeding the inner
algorithm.
numpy.float64: The average return.
Raises:
ValueError: If 'batch_idx' is not found.
"""
concatenated_paths = []
paths_by_task = collections.defaultdict(list)
for path in paths:
path['returns'] = discount_cumsum(path['rewards'], self._discount)
path['lengths'] = [len(path['rewards'])]
if 'batch_idx' in path:
paths_by_task[path['batch_idx']].append(path)
elif 'batch_idx' in path['agent_infos']:
paths_by_task[path['agent_infos']['batch_idx'][0]].append(path)
else:
raise ValueError(
'Batch idx is required for RL2 but not found, '
'Make sure to use garage.tf.algos.rl2.RL2Worker '
'for sampling')
# all path in paths_by_task[i] are sampled from task[i]
for _paths in paths_by_task.values():
concatenated_path = self._concatenate_paths(_paths)
concatenated_paths.append(concatenated_path)
name_map = None
if hasattr(self._task_sampler, '_envs') and hasattr(
self._task_sampler._envs[0]._env, 'all_task_names'):
names = [
env._env.all_task_names[0] for env in self._task_sampler._envs
]
name_map = dict(enumerate(names))
undiscounted_returns = log_multitask_performance(
itr,
EpisodeBatch.from_list(self._env_spec, paths),
self._inner_algo._discount,
name_map=name_map)
average_return = np.mean(undiscounted_returns)
episodes = EpisodeBatch.from_list(self._env_spec, concatenated_paths)
return episodes, average_return
def _process_samples(self, itr, episodes):
# pylint: disable=too-many-statements
"""Return processed sample data based on the collected paths.
Args:
itr (int): Iteration number.
episodes (EpisodeBatch): Original collected episode batch for each
task. For each episode, episode.agent_infos['batch_idx']
indicates which task this episode belongs to. In RL^2, there
are n environments/tasks and paths in each of them will be
concatenated at some point and fed to the policy.
Returns:
EpisodeBatch: Processed batch of episodes for feeding the inner
algorithm.
numpy.float64: The average return.
Raises:
ValueError: If 'batch_idx' is not found.
"""
concatenated_paths = []
paths_by_task = collections.defaultdict(list)
for episode in episodes.split():
if hasattr(episode, 'batch_idx'):
paths_by_task[episode.batch_idx[0]].append(episode)
elif 'batch_idx' in episode.agent_infos:
paths_by_task[episode.agent_infos['batch_idx'][0]].append(
episode)
else:
raise ValueError(
'Batch idx is required for RL2 but not found, '
'Make sure to use garage.tf.algos.rl2.RL2Worker '
'for sampling')
# all path in paths_by_task[i] are sampled from task[i]
for episode_list in paths_by_task.values():
concatenated_path = self._concatenate_episodes(episode_list)
concatenated_paths.append(concatenated_path)
concatenated_episodes = EpisodeBatch.concatenate(*concatenated_paths)
name_map = None
if hasattr(self._task_sampler, '_envs') and hasattr(
self._task_sampler._envs[0]._env, 'all_task_names'):
names = [
env._env.all_task_names[0] for env in self._task_sampler._envs
]
name_map = dict(enumerate(names))
undiscounted_returns = log_multitask_performance(
itr, episodes, self._inner_algo._discount, name_map=name_map)
average_return = np.mean(undiscounted_returns)
return concatenated_episodes, average_return
def log_performance(self, itr, all_samples, loss_before, loss_after,
kl_before, kl, policy_entropy):
"""Evaluate performance of this batch.
Args:
itr (int): Iteration number.
all_samples (list[list[MAMLTrajectoryBatch]]): Two
dimensional list of MAMLTrajectoryBatch of size
[meta_batch_size * (num_grad_updates + 1)]
loss_before (float): Loss before optimization step.
loss_after (float): Loss after optimization step.
kl_before (float): KL divergence before optimization step.
kl (float): KL divergence after optimization step.
policy_entropy (float): Policy entropy.
Returns:
float: The average return in last epoch cycle.
"""
tabular.record('Iteration', itr)
name_map = None
if hasattr(self._env, 'all_task_names'):
names = self._env.all_task_names
name_map = dict(zip(names, names))
rtns = log_multitask_performance(
itr,
TrajectoryBatch.from_trajectory_list(
env_spec=self._env.spec,
paths=[
path for task_paths in all_samples
for path in task_paths[self._num_grad_updates].paths
]),
discount=self._inner_algo.discount,
name_map=name_map)
with tabular.prefix(self._policy.name + '/'):
tabular.record('LossBefore', loss_before)
tabular.record('LossAfter', loss_after)
tabular.record('dLoss', loss_before - loss_after)
tabular.record('KLBefore', kl_before)
tabular.record('KLAfter', kl)
tabular.record('Entropy', policy_entropy)
return np.mean(rtns)
def _process_samples(self, itr, paths):
# pylint: disable=too-many-statements
"""Return processed sample data based on the collected paths.
Args:
itr (int): Iteration number.
paths (OrderedDict[dict]): A list of collected paths for each
task. In RL^2, there are n environments/tasks and paths in
each of them will be concatenated at some point and fed to
the policy.
Returns:
dict: Processed sample data, with key
* observations: (numpy.ndarray)
* actions: (numpy.ndarray)
* rewards: (numpy.ndarray)
* returns: (numpy.ndarray)
* valids: (numpy.ndarray)
* agent_infos: (dict)
* env_infos: (dict)
* paths: (list[dict])
* average_return: (numpy.float64)
Raises:
ValueError: If 'batch_idx' is not found.
"""
concatenated_paths = []
paths_by_task = collections.defaultdict(list)
for path in paths:
path['returns'] = np_tensor_utils.discount_cumsum(
path['rewards'], self._discount)
path['lengths'] = [len(path['rewards'])]
if 'batch_idx' in path:
paths_by_task[path['batch_idx']].append(path)
elif 'batch_idx' in path['agent_infos']:
paths_by_task[path['agent_infos']['batch_idx'][0]].append(path)
else:
raise ValueError(
'Batch idx is required for RL2 but not found, '
'Make sure to use garage.tf.algos.rl2.RL2Worker '
'for sampling')
# all path in paths_by_task[i] are sampled from task[i]
for _paths in paths_by_task.values():
concatenated_path = self._concatenate_paths(_paths)
concatenated_paths.append(concatenated_path)
# stack and pad to max path length of the concatenated
# path, which will be fed to inner algo
# i.e. max_path_length * episode_per_task
concatenated_paths_stacked = (
np_tensor_utils.stack_and_pad_tensor_dict_list(
concatenated_paths, self._inner_algo.max_path_length))
name_map = None
if hasattr(self._task_sampler, '_envs') and hasattr(
self._task_sampler._envs[0].env, 'all_task_names'):
names = [
env.env.all_task_names[0] for env in self._task_sampler._envs
]
name_map = dict(enumerate(names))
undiscounted_returns = log_multitask_performance(
itr,
TrajectoryBatch.from_trajectory_list(self._env_spec, paths),
self._inner_algo.discount,
name_map=name_map)
concatenated_paths_stacked['paths'] = concatenated_paths
concatenated_paths_stacked['average_return'] = np.mean(
undiscounted_returns)
return concatenated_paths_stacked
